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\begin{equation*}\hat{\textbf{Y}}_{k|k-1} = \textbf{L}_{k} \textbf{M}_{k} \textbf{L}_{k}^{T} + 
                                  \textbf{C}_{k} \textbf{Q}_{k}^{-1} \textbf{C}_{k}^{T}\end{equation*}
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